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Hanging method of airborne equipment based on robot visual servo control

A robot vision and servo control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of low efficiency, left and right, time-consuming and laborious, and achieve the effect of improving hanging efficiency and wide application range.

Inactive Publication Date: 2018-04-20
TIANJIN JINHANG COMP TECH RES INST
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AI Technical Summary

Problems solved by technology

[0004] At present, ground crews mainly rely on manpower to mount various types of mounts for fighter jets. They need to observe the position with the naked eye, and constantly manually adjust the position and posture of the mounts, which is time-consuming, laborious, and inefficient. This is very likely in wartime It will determine the outcome of a war. Therefore, it is of great practical significance and engineering value to study the use of the vehicle-mounted robot to automatically mount various types of mounts for fighter planes.

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  • Hanging method of airborne equipment based on robot visual servo control
  • Hanging method of airborne equipment based on robot visual servo control
  • Hanging method of airborne equipment based on robot visual servo control

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Embodiment Construction

[0025] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] Use a camera to obtain the image of the current mounting point, extract features and compare them with the reference image features, and continuously adjust the pose of the mounted object according to the visual control law until the mounted object reaches a suitable mounting position. At this time, the image acquired by the visual sensor The features are exactly the same as those of the reference image, and the mounting work is completed so far.

[0027] The above is a method of mounting airborne equipment based on robot visual servo control. The first time this method is used, it is necessary to teach the bomb-mounting robot. When it reaches the mounting point, obtain a reference image, and mount the You can u...

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Abstract

The invention discloses a hanging method of airborne equipment based on robot visual servo control. The hanging method comprises the following steps that 1, a tail end image of a missile hanging robotis acquired, and image features are extracted; 2, a visual controller is designed according to the image features; 3, the exercise amount of each joint of the robot is calculated according to the robot kinematics; and 4, a control law is generated, and a missile hanging vehicle is controlled by the control law to move to move a hanging object to an airplane hanging point to be hung. The hanging method has the advantages that the hanging efficiency of an airborne weapon can be effectively improved; and the hanging method is wide in application range, and is suitable for automatic hanging of various types of hanging objects.

Description

technical field [0001] The invention belongs to the technical field of pattern recognition and artificial intelligence, and relates to a method for mounting airborne equipment based on robot visual servo control. The efficiency of carrying various types of airborne weapons. Background technique [0002] Robot visual servo control is an important technology in the field of pattern recognition and artificial intelligence. By introducing visual sensors, the robot has the ability to perceive the external environment. It is an important application of multi-sensor information fusion and integration technology in robot technology. Compared with the non-visual sensor robot control technology, it has higher flexibility, higher precision, strong environmental adaptability, and can better complete various tasks. [0003] The robot visual servo system provides external information to the robot through the visual sensor, so as to control the robot to adjust its pose in real time, reali...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1607B25J9/1697B25J13/08
Inventor 潘辉
Owner TIANJIN JINHANG COMP TECH RES INST
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